70 CLMS100Eth(std::string _ip=std::string(
"192.168.0.1"),
unsigned int _port=2111);
#define DEFINE_GENERIC_SENSOR(class_name)
This declaration must be inserted in all CGenericSensor classes definition, within the class declarat...
This is the base, abstract class for "software drivers" interfaces to 2D scanners (laser range finder...
This "software driver" implements the communication protocol for interfacing a SICK LMS100 laser scan...
void doProcessSimple(bool &outThereIsObservation, mrpt::obs::CObservation2DRangeScan &outObservation, bool &hardwareError)
This function acquire a laser scan from the device.
bool turnOff()
This method could be called manually to stop communication with the device.
void generateCmd(const char *cmd)
mrpt::utils::CClientTCPSocket m_client
void sendCommand(const char *cmd)
void roughPrint(char *msg)
void loadConfig_sensorSpecific(const mrpt::utils::CConfigFileBase &configSource, const std::string &iniSection)
Load sensor pose on the robot, or keep the default sensor pose.
CLMS100Eth(std::string _ip=std::string("192.168.0.1"), unsigned int _port=2111)
Constructor.
bool decodeScan(char *buf, mrpt::obs::CObservation2DRangeScan &outObservation)
bool decodeLogIn(char *msg)
mrpt::poses::CPose3D m_sensorPose
void doProcess()
This method should be called periodically.
bool decodeScanDataCfg(std::istringstream &stream)
bool decodeScanCfg(std::istringstream &stream)
virtual ~CLMS100Eth()
Destructor.
void initialize()
Initialize the sensor according to the parameters previously read in the configuration file.
void setSensorPose(const mrpt::poses::CPose3D &_pose)
A method to set the sensor pose on the robot.
bool turnOn()
This method must be called before trying to get a laser scan.
unsigned int m_scanFrequency
A "CObservation"-derived class that represents a 2D range scan measurement (typically from a laser sc...
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
A TCP socket that can be connected to a TCP server, implementing MRPT's CStream interface for passing...
This class allows loading and storing values and vectors of different types from a configuration text...
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.